Module for class AbbRcfClient, a client object made for the RCF fab process.

class rapid_clay_formations_fab.robots.abb_rcf_client.AbbRcfClient(ros_port=9090)[source]

Bases: AbbClient

Robot communication client for RCF.

Subclass of compas_rrc.AbbClient with some utility methods added.

Parameters:

  • ros_port (int, optional) – ROS client port for communcation with ABB controller, defaults to 9090.

  • Class attributes

  • —————-

  • EXTERNAL_AXES_DUMMY (compas_rrc.ExternalAxes) – Dummy object used for compas_rrc.MoveToRobtarget and MoveToJoints objects.

TIMEOUT_SHORT = 10
TIMEOUT_LONG = 30
EXTERNAL_AXES_DUMMY = ExternalAxes([])
__init__(ros_port=9090)[source]
confirm_start()[source]

Stop program and prompt user to press play on pendant to resume.

Return type:

None

ping(timeout=None)[source]

Ping ABB robot controller.

Parameters:

timeout – Timeout for reply. Defaults to 10.

Raises:

compas_rrc.TimeoutError – If no reply is returned before timeout.

Return type:

None

ensure_connection(timeout_ping=None, wait_after_up=2, tries=10)[source]

Check connection to ABB controller and restart abb-driver if necessary.

Parameters:

  • timeout_ping – Timeout for ping response.

  • wait_after_up – Time to wait to ping after abb-driver container started.

  • tries – How many times to ping before raising error.

Raises:

compas_rrc.TimeoutException – If no reply is returned to second ping before timeout.

class rapid_clay_formations_fab.robots.abb_rcf_client.AbbRcfFabricationClient(rob_conf, pick_station, ros_port=9090)[source]

Bases: AbbRcfClient

Robot communication client for RCF fabrication process.

Subclass of AbbRcfClient with fabrication specific methods.

Parameters:

  • ros (compas_fab.backends.ros.RosClient) – ROS client for communcation with ABB controller.

  • rob_conf (confuse.AttrDict) – Configuration namespace created from configuration file and command line arguments.

  • pick_station (rapid_clay_formations_fab.fab_data.PickStation) – Pick station for fabrication elements.

__init__(rob_conf, pick_station, ros_port=9090)[source]
ensure_connection(timeout_ping=None, wait_after_up=None, tries=10)[source]

Check connection to ABB controller and restart abb-driver if necessary.

Parameters:

tries (int, optional) – Connection tries, defaults to 3.

Raises:

TimeoutError – If no reply is returned before timeout.

Return type:

None

pre_procedure()[source]

Pre fabrication setup, speed, acceleration and initial pose.

Return type:

None

post_procedure()[source]

Post fabrication procedure.

Return type:

None

pick_element()[source]

Send movement and IO instructions to pick up fabrication element.

Return type:

None

place_element(element)[source]

Send movement and IO instructions to place a fabrication element.

Uses fab_conf set up with command line arguments and configuration file.

Parameters:

element (rapid_clay_formations_fab.fab_data.PlaceElement) – Element to place.

Returns:

compas_rrc.FutureResult – Object which blocks while waiting for feedback from robot. Calling result on this object will return the time the procedure took.

Return type:

FutureResult

execute_trajectory(trajectory, speed, zone, blocking=False, stop_at_last=False, motion_type='J')[source]

Execute a JointTrajectory.

Parameters:

  • trajectory – Trajectory defined by frames or configurations.

  • speed (float) – Speed in mm/s.

  • zone (dict) – Zone defined either in millimeters or using compas_rrc.ZoneData names.

  • blocking (bool, optional) – If execution should be blocked while waiting for the robot to reach last trajectory point. Defaults to False

  • stop_at_last (bool, optional) – If last trajectory point should be sent as a non fly-by point, i.e. should the last trajectory points zone be set to compas_rrc.Zone.FINE.

Return type:

FutureResult

retract_needles()[source]

Send signal to retract needles on pick and place tool.

Return type:

None

extend_needles()[source]

Send signal to extend needles on pick and place tool.

Return type:

None